float64 speed_mps
uint8 driving_mode
uint8 gear_location
#lmpc four steering vechicle
float64 steering_angle_f
float64 steering_angle_r

float64 mc_pressure

#brake pressure for four stop
float64 brake_pre_fl
float64 brake_pre_fr
float64 brake_pre_rl
float64 brake_pre_rr

#torque for f/r two drivers or single driver
float64 torque_f
float64 torque_r

#torque for four drivers
float64 torque_fl
float64 torque_fr
float64 torque_rl
float64 torque_rr
